std_msgs/Header header
int32 laser_cloud_surf_from_map_num
int32 laser_cloud_corner_from_map_num
int32 laser_cloud_surf_stack_num
int32 laser_cloud_corner_stack_num
float64 total_translation
float64 total_rotation
float64 translation_from_last
float64 rotation_from_last
float64 time_elapsed
float64 latency
int32 n_iterations 
float64 average_distance 
float64 uncertainty_x
float64 uncertainty_y
float64 uncertainty_z
float64 uncertainty_roll
float64 uncertainty_pitch
float64 uncertainty_yaw
int32 plane_match_success
int32 plane_no_enough_neighbor
int32 plane_neighbor_too_far 
int32 plane_badpca_structure
int32 plane_invalid_numerical
int32 plane_mse_too_large
int32 plane_unknown
int32 prediction_source 
IterationStats[] iterations